Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system.     

Psychrophilic hydrogen production from petrochemical wastewater via anaerobic sequencing batch reactor: techno-economic assessment and kinetic modelling

Independent hydrogen production from petrochemical wastewater containing mono-ethylene glycol (MEG) via anaerobic sequencing batch reactor (ASBR) was extensively assessed under psychrophilic conditions (15–25 °C). A lab-scale ASBR was operated at pH of 5.50, and different organic loading rates (OLR) of 1.00, 1.67, 2.67, and 4.00 gCOD/L/d. The hydrogen yield (HY) progressed from 134.32 ± 10.79 to 189.09 ± 22.35 mL/gMEG_initial at increasing OLR from 1.00 to 4.00 gCOD/L/d. The maximum hydrogen content of 47.44 ± 3.60% was achieved at OLR of 4.0 gCOD/L/d, while methane content remained low (17.76 ± 1.27% at OLR of 1.0 gCOD/L/d). Kinetic studies using four different mathematical models were conducted to describe the ASBR performance. Furthermore, two batch-mode experiments were performed to optimize the nitrogen supplementation as a nutrient (C/N ratio), and assess the impact of salinity (as gNaCl/L) on hydrogen production. HY substantially dropped from 62.77 ± 4.09 to 6.02 ± 0.39 mL/gMEG_initial when C/N ratio was increased from 28.5 to 114.0. Besides, the results revealed that salinity up to 10.0 gNaCl/L has a relatively low inhibitory impact on hydrogen production. Eventually, the cost/benefit analysis showed that environmental and energy recovery revenues from ASBR were optimized at OLR of 4.0 gCOD/L/d (payback period of 7.13 yrs).     

基于神经网络和遗传算法的锭子弹性管性能优化

为得到减振弹性管对下锭胆的支承弹性和锭子高速运动下的稳定性等性能的最优匹配效率,依据减振弹性管的等效抗弯刚度及底部等效刚度系数公式,利用MatLab数值分析软件构建弹性管抗弯刚度和底部挠度数学模型。首先,结合Isight优化软件基于径向基神经网络构建其近似模型,且使精度达到可接受水平,并以模型的关键结构参数弹性模量、螺距、槽宽、壁厚为设计变量,结合遗传算法对弹性管抗弯刚度和底部挠度进行多目标优化设计,得到Pareto最优解集和Pareto前沿图,确定出减振弹性管结构工艺参数的优化方案。通过对优化数据进行分析发现,该方案在保证减振弹性管弹性的同时,其底部振幅明显减弱。     

On the modeling of bending responses of graphene-reinforced higher order annular plate via two-dimensional continuum mechanics approach

This research presents bending responses of FG-GPLRC plates based upon higher order shear deformation theory (HSDT) for various sets of boundary conditions. The rule of the mixture and modified Halpin–Tsai model are engaged to provide the effective material constant of the composite layers. By employing Hamilton’s principle, the governing equations of the structure are derived and solved with the aid of the differential quadrature method (DQM). Afterward, a parametric study is done to present the effects of three kinds of FG patterns, weight fraction of the GPLs, radius ratio, and thickness to inner radius ratio on the bending characteristics of the FG-GPLRC disk. Numerical results reveal that in the initial value of the \(Zt/h\), using more GPLs for reinforcing the structure provides an increase in the normal stresses but this matter is inverse for the higher value of the \(Zt/h\). The results show that considering the smaller radius ratio is a reason for boosting the shear stresses of the structure for each \(Zt/h\). Another consequence is that for the negative value of \(Zt/h\), it is true that by increasing \(h/{R}_{i}\) , the normal stresses increases but if there is positive value for \(Zt/h\), the radial and circumferential stresses fall down by having an increase in the \(h/{R}_{i}\).

     

High-yield graphene exfoliation using sodium dodecyl sulfate accompanied by alcohols as surface-tension-reducing agents in aqueous solution

The exfoliation of graphite was investigated in aqueous solutions containing sodium dodecyl sulfate (SDS) as a surfactant. The exfoliation was greatly enhanced near the surface aggregation concentration (SAC) of SDS, 2.6 mM, and then decreased for higher SDS contents. However, the flakes exfoliated near the SAC were graphite, whereas graphene was obtained above the critical micelle concentration (CMC). The effect of the use of alcohols as surface-tension-reducing agents (STRAs) on the exfoliation was then investigated. With ethyl alcohol, a dispersion of 2.1 mg ml⁻¹ graphene was achieved from 2.6 mM SDS after only 1 h of sonication, whereas a dispersion of 0.2 mg ml⁻¹ was obtained above the CMC in the absence of STRAs. The results demonstrate that the SDS content near the SAC is highly beneficial for exfoliation as long as the surface tension is maintained near 41.0 mN ml⁻¹. This finding supports the notion that the structure of the adsorbed SDS, depending on its concentration, strongly affects the exfoliation of graphite into graphene.     

An energy-saving nonlinear position control strategy for electro-hydraulic servo systems

The electro-hydraulic servo system (EHSS) demonstrates numerous advantages in size and performance compared to other actuation methods. Oftentimes, its utilization in industrial and machinery settings is limited by its inferior efficiency. In this paper, a nonlinear backstepping control algorithm with an energy-saving approach is proposed for position control in the EHSS. To achieve improved efficiency, two control valves including a proportional directional valve (PDV) and a proportional relief valve (PRV) are used to achieve the control objectives. To design the control algorithm, the state space model equations of the system are transformed to their normal form and the control law through the PDV is designed using a backstepping approach for position tracking. Then, another nonlinear set of laws is derived to achieve energy-saving through the PRV input. This control design method, based on the normal form representation, imposes internal dynamics on the closed-loop system. The stability of the internal dynamics is analyzed in special cases of operation. Experimental results verify that both tracking and energy-saving objectives are satisfied for the closed-loop system.     

Numerical investigation of a multichannel reactor for syngas production by methanol steam reforming at various operating conditions

A novel multichannel reactor with a bifurcation inlet manifold, a rectangular outlet manifold, and sixteen parallel minichannels with commercial CuO/ZnO/Al₂O₃ catalyst for methanol steam reforming was numerically investigated in this paper. A three-dimensional numerical model was established to study the heat and mass transfer characteristics as well as the chemical reaction rates. The numerical model adopted the triple rate kinetic model of methanol steam reforming which can accurately calculate the consumption and generation of each species in the reactor. The effects of steam to carbon molar ratio, weight hourly space velocity, operating temperature and catalyst layer thickness on the methanol steam reforming performance were evaluated and discussed. The distributions of temperature, velocity, species concentration, and reaction rates in the reactor were obtained and analyzed to explain the mechanisms of different effects. It is suggested that the operating temperature of 548 K, steam to carbon ratio of 1.3, and weight hourly space velocity of 0.67 h⁻¹ are recommended operating conditions for methanol steam reforming by the novel multichannel reactor with catalyst fully packed in the parallel minichannels.     

A novel approach to adaptive relational association rule mining

The paper focuses on the adaptive relational association rule mining problem. Relational association rules represent a particular type of association rules which describe frequent relations that occur between the features characterizing the instances within a data set. We aim at re-mining an object set, previously mined, when the feature set characterizing the objects increases. An adaptive relational association rule method, based on the discovery of interesting relational association rules, is proposed. This method, called ARARM (Adaptive Relational Association Rule Mining) adapts the set of rules that was established by mining the data before the feature set changed, preserving the completeness. We aim to reach the result more efficiently than running the mining algorithm again from scratch on the feature-extended object set. Experiments testing the method's performance on several case studies are also reported. The obtained results highlight the efficiency of the ARARM method and confirm the potential of our proposal.     

Neutral axis depth and moment redistribution in FRP and steel reinforced concrete continuous beams

The neutral axis depth is considered the best parameter for quantifying the moment redistribution in continuous concrete beams, as exemplified in various design codes worldwide. It is therefore important to well understand the variation of neutral axis depth against moment redistribution. This paper describes a theoretical investigation into the neutral axis depth and moment redistribution in concrete beams reinforced with fibre reinforced polymer (FRP) and steel bars. A finite element model has been developed. The model predictions are in favourable agreement with experimental results. Three types of reinforcement are considered, namely, glass fibre, carbon fibre and steel. Various levels of reinforcement ratio are used for a parametric evaluation. The results indicate that FRP reinforced concrete continuous beams exhibit significantly different response characteristics regarding the moment redistribution and variation of neutral axis depth from those of steel reinforced ones. In addition, it is found that the code recommendations are generally unsafe for calculating the permissible moment redistribution in FRP reinforced concrete beams, but the neglect of redistribution in such beams may be overconservative.     

Flexural behaviour of RC slabs strengthened with prestressed CFRP strips using different anchorage systems

The Externally Bonded Reinforcement (EBR) technique using Carbon Fiber-Reinforced Polymers (CFRP) has been commonly used to strengthen concrete structures in flexure. The use of prestressed CFRP material offers several advantages well-reported in the literature. Regardless of such as benefits, several studies on different topics are missing. The present work intends to contribute to the knowledge of two commercially available systems that differ on the type of anchorage: (i) the Mechanical Anchorage (MA), and (ii) the Gradient Anchorage (GA). For that purpose, an experimental program was carried out with twelve slabs monotonically tested under displacement control up to failure by using a four-point bending test configuration. The effect of type of anchorage system (MA and GA), prestrain level (0 and 0.4%), width (50 mm and 80 mm) and thickness (1.2 mm and 1.4 mm) of the CFRP laminate, and the surface preparation (grinded and sandblasted) on the flexural response were the main studied parameters. Better performance was observed for the slabs: (i) with prestressed laminates, (ii) for the MA system, and (iii) with sandblasted surface preparation.